/SLAM-Hive/slam_hive_results/mapping_results/3112/2317_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720542149.784412576]: init begins[0m
[31m[ERROR] [1720542149.785367161]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720542149.785380640]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/701ff078-3e0f-11ef-bcce-0242ac110005/roslaunch-f558ee5535ca-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://f558ee5535ca:35099/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720542150.891873086]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720542150.892136360]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720542150.897532883]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720542150.897748282]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720542150.897773122]: ROW: 384 COL: 601 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1720542150.898002467]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720542150.898206470]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720542150.898420702]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://f558ee5535ca:11311/[0m
]2;roscore http://f558ee5535ca:11311/
[1msetting /run_id to 701ff078-3e0f-11ef-bcce-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720542159.945727151]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316905581.22 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[33m[ WARN] [1720542163.278592980]: gyroscope bias initial calibration -0.00528335   0.0209731   0.0778747[0m
[0m[ INFO] [1720542163.326176460]: Initialization finish![0m
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time: 1403636626.063555, t: 0.164437 -0.087605 -0.106725 q: -0.109764 0.799380 0.143975 0.572900 
time: 1403636626.263556, t: 0.183265 -0.069915 -0.025613 q: -0.124574 0.799323 0.134315 0.572297 
time: 1403636626.463556, t: 0.203051 -0.066816 0.006915 q: -0.121942 0.797833 0.137037 0.574294 
time: 1403636626.663555, t: 0.219164 -0.080933 0.012684 q: -0.113779 0.788650 0.145987 0.586322 
time: 1403636626.863555, t: 0.220162 -0.101535 0.000665 q: -0.112823 0.793451 0.150871 0.578743 
time: 1403636627.063555, t: 0.209705 -0.124972 -0.023158 q: -0.109396 0.803167 0.154296 0.564932 
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time: 1403636627.663555, t: 0.183060 -0.189811 0.048292 q: -0.107972 0.804144 0.139781 0.567587 
optimize pose graph 
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time: 1403636628.063555, t: 0.185567 -0.242756 0.020621 q: -0.075291 0.824813 0.112255 0.549011 
time: 1403636628.263556, t: 0.214656 -0.257713 0.055079 q: -0.079384 0.809223 0.098703 0.573685 
time: 1403636628.463556, t: 0.243144 -0.275857 0.100458 q: -0.087951 0.806148 0.090562 0.578090 
time: 1403636628.663555, t: 0.267157 -0.306059 0.125682 q: -0.092231 0.807184 0.090338 0.576009 
time: 1403636628.863555, t: 0.289535 -0.351280 0.128135 q: -0.075187 0.813706 0.089798 0.569355 
time: 1403636629.063555, t: 0.310670 -0.403105 0.142662 q: -0.063247 0.821722 0.083082 0.560242 
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time: 1403636629.463556, t: 0.379742 -0.506018 0.182299 q: -0.054215 0.817250 0.048905 0.571640 
time: 1403636629.663555, t: 0.428113 -0.565792 0.163675 q: -0.039928 0.822678 0.022181 0.566671 
optimize pose graph 
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time: 1403636630.263556, t: 0.649323 -0.778518 0.074371 q: 0.018411 0.817350 -0.046810 0.573942 
time: 1403636630.463556, t: 0.751724 -0.843310 0.089956 q: 0.019771 0.818334 -0.045850 0.572570 
time: 1403636630.663555, t: 0.850331 -0.908903 0.121151 q: 0.023387 0.821459 -0.035847 0.568659 
time: 1403636630.863555, t: 0.948067 -0.965218 0.136543 q: 0.018069 0.822382 -0.033868 0.567639 
time: 1403636631.063555, t: 1.047490 -1.021029 0.132341 q: 0.012396 0.821366 -0.034296 0.569235 
time: 1403636631.263556, t: 1.142610 -1.077240 0.119120 q: 0.012530 0.817275 -0.033866 0.575116 
time: 1403636631.463556, t: 1.236497 -1.133473 0.097343 q: 0.012932 0.817160 -0.032614 0.575343 
time: 1403636631.663555, t: 1.323428 -1.189386 0.064869 q: 0.016353 0.817713 -0.028768 0.574674 
optimize pose graph 
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time: 1403636702.863555, t: 5.556013 -3.745342 -1.289518 q: 0.175981 0.790892 -0.257314 0.526602 
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time: 1403636703.463556, t: 5.669187 -3.951920 -1.443810 q: 0.161652 0.773415 -0.262319 0.553974 
time: 1403636703.663555, t: 5.694695 -4.031026 -1.439206 q: 0.171924 0.781120 -0.253669 0.544009 
time: 1403636703.863555, t: 5.723936 -4.109405 -1.438220 q: 0.167593 0.778924 -0.253688 0.548482 
time: 1403636704.063555, t: 5.749356 -4.183643 -1.454095 q: 0.160451 0.776141 -0.254718 0.554057 
time: 1403636704.263556, t: 5.774115 -4.260428 -1.492853 q: 0.159712 0.783999 -0.251928 0.544398 
time: 1403636704.463556, t: 5.800325 -4.340358 -1.516088 q: 0.162408 0.790065 -0.248070 0.536547 
time: 1403636704.663555, t: 5.839725 -4.422917 -1.513845 q: 0.163253 0.795490 -0.246581 0.528906 
time: 1403636704.863555, t: 5.896897 -4.510352 -1.530679 q: 0.160797 0.803991 -0.245930 0.516973 
time: 1403636705.063555, t: 5.980797 -4.604342 -1.567567 q: 0.160060 0.809360 -0.243459 0.509947 
time: 1403636705.263556, t: 6.095150 -4.707106 -1.602681 q: 0.168989 0.794318 -0.235373 0.533948 
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time: 1403636705.663555, t: 6.365473 -4.899371 -1.645353 q: 0.166731 0.797564 -0.237682 0.528773 
time: 1403636705.863555, t: 6.522475 -4.994051 -1.683596 q: 0.164437 0.789696 -0.239217 0.540478 
time: 1403636706.063555, t: 6.682486 -5.087659 -1.695648 q: 0.146552 0.779050 -0.249146 0.556354 
time: 1403636706.263556, t: 6.829786 -5.190027 -1.700044 q: 0.153264 0.778683 -0.241298 0.558514 
time: 1403636706.463556, t: 6.964628 -5.292469 -1.732225 q: 0.167134 0.787610 -0.228647 0.547227 
time: 1403636706.663555, t: 7.097880 -5.388496 -1.757518 q: 0.169559 0.791669 -0.226766 0.541375 
time: 1403636706.863555, t: 7.244208 -5.476679 -1.755740 q: 0.167845 0.796580 -0.230787 0.532940 
time: 1403636707.063555, t: 7.404176 -5.562228 -1.741237 q: 0.170984 0.792669 -0.234138 0.536302 
time: 1403636707.263556, t: 7.570414 -5.641930 -1.722773 q: 0.175420 0.790071 -0.238649 0.536714 
time: 1403636707.463556, t: 7.747511 -5.716030 -1.683527 q: 0.178610 0.791057 -0.241685 0.532837 
time: 1403636707.663555, t: 7.923502 -5.823881 -1.624039 q: 0.164915 0.791458 -0.248981 0.533297 
time: 1403636707.863555, t: 8.124900 -5.849750 -1.603574 q: 0.159557 0.788345 -0.255267 0.536555 
time: 1403636708.063555, t: 8.317256 -5.922373 -1.624235 q: 0.162005 0.786150 -0.248187 0.542333 
time: 1403636708.263556, t: 8.508194 -5.998937 -1.667206 q: 0.161170 0.783206 -0.242978 0.549158 
time: 1403636708.463556, t: 8.690856 -6.079387 -1.713631 q: 0.140795 0.774516 -0.254722 0.561621 
time: 1403636708.663555, t: 8.860885 -6.178164 -1.733947 q: 0.151434 0.774325 -0.248102 0.562080 
time: 1403636709.063555, t: 9.150057 -6.362582 -1.790772 q: 0.189177 0.770580 -0.234083 0.561803 
time: 1403636709.263556, t: 9.283337 -6.420630 -1.793635 q: 0.192070 0.773095 -0.239513 0.555037 
time: 1403636709.463556, t: 9.411444 -6.455097 -1.785846 q: 0.191123 0.778174 -0.242248 0.547022 
time: 1403636709.663555, t: 9.540497 -6.474027 -1.804993 q: 0.190804 0.781342 -0.241983 0.542718 
time: 1403636709.863555, t: 9.673437 -6.477295 -1.831060 q: 0.188073 0.782198 -0.239844 0.543386 
time: 1403636710.063555, t: 9.811335 -6.461566 -1.832395 q: 0.186992 0.781861 -0.236623 0.545652 
time: 1403636710.463556, t: 10.103538 -6.385392 -1.880568 q: 0.154073 0.779223 -0.238545 0.558721 
time: 1403636710.663555, t: 10.243757 -6.345165 -1.934743 q: 0.129029 0.782920 -0.223959 0.565889 
time: 1403636710.863555, t: 10.372041 -6.315079 -1.986809 q: 0.119726 0.791358 -0.185689 0.570034 
time: 1403636711.063555, t: 10.486317 -6.288128 -2.015270 q: 0.115397 0.800742 -0.146026 0.569361 
time: 1403636711.263556, t: 10.592024 -6.251548 -2.025753 q: 0.113561 0.802736 -0.127497 0.571369 
time: 1403636711.463556, t: 10.686414 -6.194953 -2.021762 q: 0.104561 0.793614 -0.129173 0.585285 
time: 1403636711.663555, t: 10.765792 -6.124224 -2.010650 q: 0.112299 0.783672 -0.127930 0.597395 
optimize pose graph 
time: 1403636711.863555, t: 10.817847 -6.032597 -1.995946 q: 0.111046 0.787585 -0.134843 0.590928 
time: 1403636712.063555, t: 10.845954 -5.928891 -1.969823 q: 0.090835 0.792966 -0.152865 0.582740 
time: 1403636712.263556, t: 10.855209 -5.829828 -1.924172 q: 0.091278 0.793872 -0.143799 0.583744 
time: 1403636712.463556, t: 10.846764 -5.729979 -1.858751 q: 0.092296 0.795952 -0.110113 0.588062 
time: 1403636712.663555, t: 10.821130 -5.618502 -1.784211 q: 0.078892 0.793158 -0.091888 0.596853 
time: 1403636712.863555, t: 10.772188 -5.499876 -1.729984 q: 0.066563 0.793144 -0.084451 0.599467 
time: 1403636713.063555, t: 10.701338 -5.380152 -1.695440 q: 0.064906 0.797794 -0.081241 0.593895 
time: 1403636713.263556, t: 10.613517 -5.254312 -1.644452 q: 0.058488 0.801043 -0.082589 0.589990 
time: 1403636713.463556, t: 10.513799 -5.131571 -1.565757 q: 0.055475 0.803662 -0.085537 0.586288 
time: 1403636713.663555, t: 10.405092 -5.014010 -1.480286 q: 0.046966 0.805921 -0.094557 0.582533 
time: 1403636713.863555, t: 10.289581 -4.911109 -1.417656 q: 0.041866 0.807151 -0.102541 0.579862 
optimize pose graph 
time: 1403636714.063555, t: 10.166969 -4.824345 -1.378441 q: 0.053681 0.808128 -0.099496 0.578055 
time: 1403636714.263556, t: 10.041989 -4.748001 -1.357935 q: 0.056845 0.806301 -0.102803 0.579723 
time: 1403636714.463556, t: 9.916403 -4.680424 -1.352765 q: 0.055122 0.811243 -0.106607 0.572260 
time: 1403636714.663555, t: 9.793711 -4.618597 -1.362790 q: 0.042954 0.821334 -0.091560 0.561411 
time: 1403636714.863555, t: 9.686541 -4.569082 -1.357158 q: 0.025477 0.826236 -0.049898 0.560531 
time: 1403636715.063555, t: 9.594226 -4.525114 -1.322722 q: 0.003362 0.828696 -0.005508 0.559662 
time: 1403636715.263556, t: 9.518364 -4.482527 -1.266414 q: -0.009749 0.828937 0.018637 0.558946 
time: 1403636715.463556, t: 9.467170 -4.443636 -1.231447 q: -0.023634 0.822602 0.020185 0.567768 
time: 1403636715.663555, t: 9.421389 -4.414643 -1.224987 q: -0.038582 0.816623 0.010441 0.575786 
time: 1403636715.863555, t: 9.380571 -4.400390 -1.226713 q: -0.022461 0.804323 0.016865 0.593528 
optimize pose graph 
time: 1403636716.063555, t: 9.320817 -4.391864 -1.211072 q: -0.015012 0.799681 0.015893 0.600027 
time: 1403636716.263556, t: 9.238719 -4.386291 -1.179524 q: -0.015891 0.810047 0.007289 0.586105 
time: 1403636716.663555, t: 9.055078 -4.388470 -1.166134 q: -0.011209 0.814043 0.007170 0.580653 
time: 1403636716.863555, t: 8.961131 -4.386177 -1.190353 q: -0.026649 0.813537 0.027814 0.580236 
time: 1403636717.063555, t: 8.861931 -4.386041 -1.201032 q: -0.051804 0.812529 0.065279 0.576933 
time: 1403636717.263556, t: 8.764584 -4.386655 -1.190684 q: -0.067454 0.809520 0.098974 0.574745 
time: 1403636717.463556, t: 8.663804 -4.384330 -1.171065 q: -0.059945 0.805684 0.124565 0.575989 
time: 1403636717.663555, t: 8.561971 -4.373557 -1.181914 q: -0.068075 0.805504 0.123562 0.575554 
time: 1403636717.863555, t: 8.451134 -4.343357 -1.204889 q: -0.068190 0.804913 0.131616 0.574581 
time: 1403636718.063555, t: 8.333855 -4.291349 -1.208361 q: -0.081837 0.801052 0.155844 0.572128 
time: 1403636718.263556, t: 8.210716 -4.218900 -1.199808 q: -0.114822 0.797438 0.176927 0.565337 
time: 1403636718.463556, t: 8.083322 -4.141590 -1.218874 q: -0.141367 0.794353 0.195152 0.557615 
time: 1403636718.663555, t: 7.963302 -4.060664 -1.260818 q: -0.169004 0.790986 0.209355 0.549499 
time: 1403636718.863555, t: 7.855380 -3.988174 -1.313983 q: -0.175185 0.787572 0.224364 0.546535 
time: 1403636719.063555, t: 7.759608 -3.927074 -1.348663 q: -0.167501 0.781338 0.237605 0.552267 
time: 1403636719.263556, t: 7.665030 -3.866717 -1.354606 q: -0.169775 0.774026 0.236402 0.562294 
time: 1403636719.463556, t: 7.562104 -3.815205 -1.376518 q: -0.174752 0.771294 0.229876 0.567208 
time: 1403636719.663555, t: 7.455241 -3.776806 -1.415870 q: -0.173268 0.777830 0.226228 0.560160 
time: 1403636719.863555, t: 7.345120 -3.747751 -1.426597 q: -0.169394 0.784457 0.221590 0.553924 
time: 1403636720.063555, t: 7.235050 -3.723859 -1.424313 q: -0.166857 0.787528 0.218091 0.551719 
optimize pose graph 
time: 1403636720.263556, t: 7.134423 -3.702484 -1.443329 q: -0.166408 0.788655 0.217443 0.550499 
time: 1403636720.463556, t: 7.042725 -3.687700 -1.476875 q: -0.168911 0.788631 0.218024 0.549542 
time: 1403636720.663555, t: 6.956946 -3.678007 -1.497237 q: -0.171142 0.788735 0.219754 0.548011 
time: 1403636720.863555, t: 6.882389 -3.677219 -1.489338 q: -0.164891 0.790436 0.212942 0.550162 
time: 1403636721.063555, t: 6.816960 -3.682260 -1.490283 q: -0.152868 0.793826 0.190223 0.557035 
time: 1403636721.263556, t: 6.756939 -3.693544 -1.508553 q: -0.136635 0.796023 0.161836 0.566999 
time: 1403636721.463556, t: 6.697385 -3.714644 -1.504465 q: -0.122016 0.799148 0.144349 0.570647 
time: 1403636721.663555, t: 6.636316 -3.742607 -1.496018 q: -0.105037 0.804189 0.130222 0.570341 
time: 1403636721.863555, t: 6.572764 -3.771290 -1.510827 q: -0.096841 0.804654 0.123992 0.572521 
time: 1403636722.063555, t: 6.509622 -3.796192 -1.533664 q: -0.088595 0.803664 0.129492 0.574027 
time: 1403636722.263556, t: 6.442641 -3.816856 -1.531385 q: -0.093757 0.804539 0.130322 0.571789 
time: 1403636722.463556, t: 6.372300 -3.832165 -1.527702 q: -0.094045 0.804969 0.127026 0.571878 
time: 1403636722.663555, t: 6.300263 -3.847606 -1.540191 q: -0.087595 0.806252 0.121365 0.572325 
time: 1403636722.863555, t: 6.225016 -3.859240 -1.556207 q: -0.081611 0.806757 0.120664 0.572645 
time: 1403636723.063555, t: 6.148726 -3.864674 -1.546792 q: -0.087117 0.807108 0.116219 0.572260 
time: 1403636723.263556, t: 6.074477 -3.868073 -1.529958 q: -0.087126 0.807475 0.115662 0.571852 
time: 1403636723.463556, t: 6.002126 -3.870730 -1.530418 q: -0.074392 0.806165 0.111882 0.576234 
time: 1403636723.663555, t: 5.924872 -3.868005 -1.524330 q: -0.068600 0.798297 0.089551 0.591605 
time: 1403636723.863555, t: 5.838984 -3.863095 -1.503063 q: -0.061471 0.809500 0.076859 0.578813 
time: 1403636724.063555, t: 5.746310 -3.860261 -1.500109 q: -0.054766 0.819520 0.065909 0.566607 
time: 1403636724.263556, t: 5.660509 -3.860292 -1.516460 q: -0.036398 0.824032 0.042084 0.563805 
time: 1403636724.663555, t: 5.514337 -3.856927 -1.530307 q: 0.000585 0.816397 -0.004228 0.577475 
time: 1403636724.863555, t: 5.447409 -3.841048 -1.491464 q: 0.003684 0.817793 -0.011094 0.575394 
time: 1403636725.063555, t: 5.388088 -3.822141 -1.423075 q: -0.005707 0.818746 -0.015123 0.573928 
time: 1403636725.263556, t: 5.334044 -3.808467 -1.338417 q: -0.010113 0.819803 -0.014517 0.572373 
time: 1403636725.463556, t: 5.286930 -3.799035 -1.269257 q: -0.004970 0.820002 -0.010400 0.572245 
time: 1403636725.663555, t: 5.242410 -3.792932 -1.224907 q: -0.001039 0.819366 -0.008372 0.573208 
time: 1403636725.863555, t: 5.204084 -3.783930 -1.207825 q: -0.001632 0.820104 -0.008627 0.572147 
time: 1403636726.063555, t: 5.170515 -3.777261 -1.209943 q: -0.004928 0.819592 -0.008813 0.572859 
time: 1403636726.263556, t: 5.139786 -3.770681 -1.226712 q: -0.003415 0.817635 -0.005138 0.575704 
time: 1403636726.463556, t: 5.109726 -3.763554 -1.232418 q: -0.005137 0.815857 -0.002539 0.578225 
time: 1403636726.663555, t: 5.081309 -3.757922 -1.211146 q: -0.028525 0.812733 -0.015627 0.581728 
time: 1403636726.863555, t: 5.051128 -3.766730 -1.165085 q: -0.018127 0.811585 -0.004860 0.583933 
time: 1403636727.063555, t: 5.008972 -3.782488 -1.095796 q: -0.012542 0.811107 0.007361 0.584717 
time: 1403636727.263556, t: 4.962328 -3.798475 -1.033309 q: -0.005405 0.812185 0.016353 0.583146 
time: 1403636727.463556, t: 4.904458 -3.806495 -0.985579 q: -0.000536 0.813403 0.020458 0.581341 
time: 1403636727.663555, t: 4.847911 -3.804890 -0.938158 q: -0.008581 0.810781 0.014945 0.585095 
time: 1403636727.863555, t: 4.785751 -3.794339 -0.859082 q: -0.001365 0.812822 0.019717 0.582177 
time: 1403636728.063555, t: 4.721032 -3.770262 -0.786712 q: 0.001344 0.813036 0.020840 0.581839 
optimize pose graph 
time: 1403636728.263556, t: 4.653188 -3.734797 -0.739317 q: -0.005539 0.810695 0.015139 0.585247 
time: 1403636728.463556, t: 4.574474 -3.696965 -0.709263 q: -0.015436 0.811374 0.007692 0.584273 
time: 1403636728.663555, t: 4.498671 -3.656749 -0.705009 q: -0.026502 0.812126 0.006507 0.582844 
time: 1403636728.863555, t: 4.412059 -3.624743 -0.685190 q: -0.027657 0.811227 0.038186 0.582827 
time: 1403636729.063555, t: 4.324802 -3.590772 -0.654280 q: -0.037399 0.806767 0.060180 0.586607 
time: 1403636729.263556, t: 4.229726 -3.553076 -0.643097 q: -0.045930 0.807546 0.069097 0.583940 
time: 1403636729.463556, t: 4.124167 -3.514470 -0.648336 q: -0.048759 0.806887 0.072003 0.584270 
time: 1403636729.663555, t: 4.014569 -3.472953 -0.634802 q: -0.050193 0.808090 0.072046 0.582478 
time: 1403636729.863555, t: 3.903226 -3.430010 -0.607827 q: -0.049600 0.812019 0.070972 0.577172 
time: 1403636730.063555, t: 3.786439 -3.386223 -0.595990 q: -0.050672 0.815621 0.069719 0.572131 
time: 1403636730.263556, t: 3.677457 -3.337822 -0.604818 q: -0.051233 0.816533 0.070423 0.570692 
time: 1403636730.463556, t: 3.578034 -3.289204 -0.625182 q: -0.052968 0.819365 0.070267 0.566478 
time: 1403636730.663555, t: 3.494045 -3.240510 -0.625315 q: -0.052805 0.826432 0.070688 0.556080 
time: 1403636730.863555, t: 3.431359 -3.190060 -0.587427 q: -0.054028 0.828330 0.070167 0.553197 
time: 1403636731.063555, t: 3.383346 -3.141394 -0.550462 q: -0.071492 0.825112 0.056216 0.557601 
time: 1403636731.263556, t: 3.349395 -3.107561 -0.530543 q: -0.071840 0.814311 0.053764 0.573450 
time: 1403636731.463556, t: 3.319315 -3.091558 -0.530918 q: -0.057503 0.812497 0.062263 0.576772 
time: 1403636731.663555, t: 3.294712 -3.084488 -0.546395 q: -0.066880 0.813777 0.055674 0.574626 
time: 1403636731.863555, t: 3.269146 -3.087700 -0.577301 q: -0.060006 0.813635 0.060421 0.575105 
time: 1403636732.063555, t: 3.241495 -3.097355 -0.621474 q: -0.058104 0.811703 0.063534 0.577689 
time: 1403636732.263556, t: 3.211723 -3.111649 -0.676039 q: -0.056792 0.809916 0.066144 0.580030 
time: 1403636732.463556, t: 3.174973 -3.128840 -0.707442 q: -0.046335 0.806563 0.074354 0.584620 
time: 1403636732.663555, t: 3.123701 -3.137454 -0.707783 q: -0.031455 0.798303 0.086207 0.595224 
time: 1403636732.863555, t: 3.054205 -3.126180 -0.688041 q: -0.046018 0.797530 0.077789 0.596471 
time: 1403636733.063555, t: 2.966328 -3.108969 -0.678168 q: -0.048526 0.802904 0.077462 0.589058 
time: 1403636733.263556, t: 2.865225 -3.082990 -0.659406 q: -0.045894 0.806233 0.080846 0.584248 
time: 1403636733.463556, t: 2.754351 -3.050727 -0.619584 q: -0.053075 0.810695 0.077499 0.577884 
time: 1403636733.663555, t: 2.644245 -3.013141 -0.574659 q: -0.054832 0.814261 0.077019 0.572748 
time: 1403636733.863555, t: 2.537918 -2.973219 -0.548254 q: -0.054535 0.816720 0.077893 0.569146 
time: 1403636734.063555, t: 2.435946 -2.928802 -0.541052 q: -0.049640 0.811135 0.080650 0.577140 
time: 1403636734.263556, t: 2.329971 -2.879437 -0.531913 q: -0.053814 0.809251 0.077611 0.579822 
time: 1403636734.463556, t: 2.222841 -2.829596 -0.496434 q: -0.058444 0.812886 0.076522 0.574408 
time: 1403636734.663555, t: 2.116758 -2.782012 -0.460522 q: -0.059526 0.817170 0.078263 0.567948 
time: 1403636734.863555, t: 2.020817 -2.731981 -0.450847 q: -0.059568 0.817836 0.081185 0.566573 
time: 1403636735.063555, t: 1.933651 -2.682245 -0.459205 q: -0.061053 0.817645 0.081479 0.566648 
time: 1403636735.263556, t: 1.854037 -2.635104 -0.464735 q: -0.063956 0.819332 0.078104 0.564362 
time: 1403636735.463556, t: 1.792564 -2.585845 -0.434359 q: -0.063697 0.819890 0.072403 0.564341 
time: 1403636735.663555, t: 1.736560 -2.544224 -0.378454 q: -0.057538 0.817872 0.068300 0.568427 
time: 1403636735.863555, t: 1.689615 -2.505067 -0.333506 q: -0.055058 0.818402 0.064968 0.568301 
time: 1403636736.063555, t: 1.649130 -2.468875 -0.306092 q: -0.055894 0.816577 0.069864 0.570260 
optimize pose graph 
time: 1403636736.263556, t: 1.611244 -2.428884 -0.257001 q: -0.070540 0.810784 0.088461 0.574307 
time: 1403636736.463556, t: 1.570395 -2.394690 -0.210141 q: -0.076026 0.807843 0.107289 0.574542 
time: 1403636736.663555, t: 1.531553 -2.355469 -0.191117 q: -0.070598 0.804155 0.122210 0.577421 
time: 1403636736.863555, t: 1.489921 -2.306851 -0.189569 q: -0.071994 0.802913 0.126132 0.578133 
time: 1403636737.063555, t: 1.436758 -2.248908 -0.194540 q: -0.081654 0.803802 0.124876 0.575883 
time: 1403636737.263556, t: 1.377499 -2.186657 -0.215658 q: -0.093060 0.804167 0.123723 0.573888 
time: 1403636737.463556, t: 1.320598 -2.124018 -0.236919 q: -0.095302 0.808683 0.128011 0.566182 
time: 1403636737.663555, t: 1.267187 -2.067198 -0.228679 q: -0.101859 0.811844 0.126630 0.560802 
time: 1403636737.863555, t: 1.219517 -2.019218 -0.194560 q: -0.109615 0.814252 0.120816 0.557118 
time: 1403636738.063555, t: 1.186979 -1.982291 -0.128210 q: -0.108253 0.814294 0.119157 0.557682 
time: 1403636738.263556, t: 1.171635 -1.957887 -0.060026 q: -0.101525 0.812050 0.120018 0.562017 
time: 1403636738.463556, t: 1.161601 -1.937906 -0.018626 q: -0.097738 0.813240 0.117167 0.561569 
time: 1403636738.663555, t: 1.166342 -1.926529 -0.006733 q: -0.086006 0.818781 0.097057 0.559267 
time: 1403636738.863555, t: 1.173250 -1.927511 -0.015132 q: -0.068307 0.817591 0.056318 0.568953 
time: 1403636739.063555, t: 1.186777 -1.944768 -0.049632 q: -0.047353 0.817342 0.004440 0.574187 
time: 1403636739.263556, t: 1.201478 -1.981012 -0.100148 q: -0.002328 0.816850 -0.037404 0.575632 
time: 1403636739.463556, t: 1.212803 -2.028136 -0.152502 q: 0.046159 0.814185 -0.073403 0.574094 
time: 1403636739.663555, t: 1.221117 -2.069994 -0.172972 q: 0.067914 0.810458 -0.109929 0.571367 
time: 1403636739.863555, t: 1.233645 -2.110322 -0.184078 q: 0.072583 0.808181 -0.127089 0.570459 
time: 1403636740.063555, t: 1.247586 -2.145717 -0.230328 q: 0.076924 0.808264 -0.127152 0.569758 
time: 1403636740.263556, t: 1.257262 -2.201587 -0.264828 q: 0.086010 0.809362 -0.114652 0.569552 
optimize pose graph 
time: 1403636740.463556, t: 1.262142 -2.235845 -0.330147 q: 0.075674 0.807849 -0.115859 0.572914 
time: 1403636740.663555, t: 1.259644 -2.271200 -0.391493 q: 0.068815 0.807026 -0.114933 0.575120 
time: 1403636740.863555, t: 1.255323 -2.303301 -0.437741 q: 0.065689 0.809839 -0.112963 0.571914 
time: 1403636741.063555, t: 1.245404 -2.338380 -0.497522 q: 0.084060 0.807326 -0.099267 0.575591 
time: 1403636741.263556, t: 1.232675 -2.359202 -0.586364 q: 0.086355 0.802224 -0.115250 0.579394 
time: 1403636741.463556, t: 1.208886 -2.372623 -0.685793 q: 0.080279 0.807925 -0.133409 0.568344 
time: 1403636741.663555, t: 1.186379 -2.386932 -0.762019 q: 0.080090 0.816721 -0.139682 0.554113 
time: 1403636741.863555, t: 1.179229 -2.408732 -0.810101 q: 0.086406 0.812551 -0.133383 0.560806 
time: 1403636742.063555, t: 1.180545 -2.430061 -0.874144 q: 0.094969 0.814396 -0.120203 0.559725 
time: 1403636742.263556, t: 1.190883 -2.443276 -0.929616 q: 0.081320 0.820558 -0.122357 0.552359 
time: 1403636742.463556, t: 1.211614 -2.453241 -0.956835 q: 0.075448 0.813224 -0.120278 0.564364 
time: 1403636742.663555, t: 1.241834 -2.462968 -0.969522 q: 0.074906 0.808890 -0.116944 0.571323 
time: 1403636742.863555, t: 1.270020 -2.478976 -1.001486 q: 0.072453 0.804877 -0.114607 0.577745 
time: 1403636743.063555, t: 1.285897 -2.495375 -1.062253 q: 0.073249 0.808269 -0.120982 0.571575 
time: 1403636743.263556, t: 1.303518 -2.514307 -1.131542 q: 0.075787 0.827544 -0.134430 0.539775 
time: 1403636743.463556, t: 1.345496 -2.547099 -1.167824 q: 0.075283 0.827681 -0.141466 0.537832 
time: 1403636743.663555, t: 1.412849 -2.590706 -1.202078 q: 0.082885 0.818254 -0.137750 0.551920 
time: 1403636743.863555, t: 1.494392 -2.637280 -1.262111 q: 0.090612 0.807587 -0.142853 0.564965 
time: 1403636744.063555, t: 1.580145 -2.683301 -1.348902 q: 0.101688 0.801071 -0.148734 0.570809 
time: 1403636744.263556, t: 1.661923 -2.724039 -1.457082 q: 0.107611 0.795235 -0.163528 0.573829 
time: 1403636744.463556, t: 1.731563 -2.759839 -1.585975 q: 0.101510 0.792143 -0.175867 0.575566 
time: 1403636744.663555, t: 1.790271 -2.800302 -1.731440 q: 0.091878 0.787837 -0.180862 0.581516 
time: 1403636744.863555, t: 1.830035 -2.847780 -1.882693 q: 0.105153 0.789233 -0.171073 0.580335 
time: 1403636745.063555, t: 1.855627 -2.893714 -2.002629 q: 0.106027 0.799225 -0.166257 0.567765 
time: 1403636745.263556, t: 1.884060 -2.939823 -2.093574 q: 0.099263 0.805381 -0.160553 0.561899 
time: 1403636745.463556, t: 1.919348 -2.985712 -2.154370 q: 0.101030 0.798823 -0.149826 0.573783 
time: 1403636745.663555, t: 1.950054 -3.027276 -2.180579 q: 0.103920 0.794377 -0.153414 0.578471 
time: 1403636745.863555, t: 1.975915 -3.060758 -2.178853 q: 0.116500 0.793868 -0.159598 0.575092 
time: 1403636746.063555, t: 1.996464 -3.078222 -2.150988 q: 0.133251 0.793405 -0.164438 0.570712 
time: 1403636746.263556, t: 2.015089 -3.075179 -2.099262 q: 0.142409 0.789176 -0.167731 0.573399 
time: 1403636746.463556, t: 2.024988 -3.047794 -2.051493 q: 0.141350 0.779613 -0.170215 0.585875 
time: 1403636746.663555, t: 2.029163 -2.996730 -2.043668 q: 0.121085 0.801237 -0.178756 0.558036 
time: 1403636746.863555, t: 2.039032 -2.945234 -2.052179 q: 0.096020 0.811364 -0.188304 0.544987 
time: 1403636747.063555, t: 2.065556 -2.916302 -2.049702 q: 0.097792 0.807495 -0.181407 0.552702 
time: 1403636747.263556, t: 2.105919 -2.902443 -2.007875 q: 0.116247 0.800788 -0.168739 0.562808 
time: 1403636747.663555, t: 2.196641 -2.856084 -1.901789 q: 0.122953 0.800417 -0.173898 0.560335 
time: 1403636747.863555, t: 2.244222 -2.821138 -1.840153 q: 0.124041 0.799482 -0.179672 0.559607 
time: 1403636748.063555, t: 2.301560 -2.785693 -1.759173 q: 0.103488 0.792238 -0.200372 0.567010 
time: 1403636748.263556, t: 2.344888 -2.765807 -1.704193 q: 0.106432 0.793679 -0.202066 0.563840 
time: 1403636748.463556, t: 2.386896 -2.759887 -1.667575 q: 0.127730 0.796881 -0.186665 0.560198 
time: 1403636748.663555, t: 2.432623 -2.751123 -1.615735 q: 0.124350 0.794369 -0.189186 0.563669 
time: 1403636748.863555, t: 2.474440 -2.743484 -1.560907 q: 0.112381 0.790755 -0.200849 0.567219 
time: 1403636749.063555, t: 2.510844 -2.744422 -1.522756 q: 0.109839 0.787501 -0.210336 0.568802 
time: 1403636749.263556, t: 2.537072 -2.758242 -1.492491 q: 0.115108 0.785588 -0.212646 0.569546 
time: 1403636749.463556, t: 2.550548 -2.786863 -1.438294 q: 0.133865 0.787596 -0.202329 0.566424 
time: 1403636749.663555, t: 2.559198 -2.813497 -1.376454 q: 0.145718 0.789917 -0.192349 0.563736 
time: 1403636749.863555, t: 2.571425 -2.829587 -1.335542 q: 0.141126 0.782732 -0.190766 0.575346 
time: 1403636750.063555, t: 2.576667 -2.833199 -1.319026 q: 0.136123 0.778922 -0.186372 0.583110 
time: 1403636750.263556, t: 2.562250 -2.822960 -1.303601 q: 0.130284 0.785225 -0.183465 0.576878 
time: 1403636750.463556, t: 2.538880 -2.805332 -1.255995 q: 0.124394 0.791142 -0.179957 0.571170 
time: 1403636750.663555, t: 2.508907 -2.780910 -1.168729 q: 0.121694 0.793459 -0.173046 0.570673 
time: 1403636750.863555, t: 2.475976 -2.751823 -1.055910 q: 0.119796 0.796608 -0.169053 0.567878 
time: 1403636751.063555, t: 2.438774 -2.713352 -0.931352 q: 0.123418 0.799929 -0.165942 0.563334 
time: 1403636751.263556, t: 2.408425 -2.670620 -0.831372 q: 0.120837 0.806292 -0.170369 0.553413 
time: 1403636751.463556, t: 2.387918 -2.628012 -0.737650 q: 0.109218 0.802835 -0.182039 0.557126 
time: 1403636751.663555, t: 2.375351 -2.594521 -0.650371 q: 0.095152 0.798059 -0.182639 0.566296 
time: 1403636751.863555, t: 2.359188 -2.577432 -0.576765 q: 0.086765 0.809583 -0.176797 0.552983 
time: 1403636752.063555, t: 2.352356 -2.579927 -0.503282 q: 0.097191 0.814933 -0.163189 0.547546 
time: 1403636752.263556, t: 2.363062 -2.590347 -0.436503 q: 0.096549 0.807399 -0.151976 0.561862 
time: 1403636752.463556, t: 2.377324 -2.597771 -0.358113 q: 0.080122 0.803801 -0.126942 0.575647 
time: 1403636752.663555, t: 2.386784 -2.600576 -0.277651 q: 0.057553 0.811477 -0.090530 0.574454 
time: 1403636752.863555, t: 2.389103 -2.603002 -0.222288 q: 0.032798 0.816768 -0.050607 0.573806 
time: 1403636753.063555, t: 2.392568 -2.600036 -0.194322 q: 0.014128 0.818526 -0.002284 0.574291 
time: 1403636753.263556, t: 2.396067 -2.584924 -0.193832 q: -0.010569 0.818080 0.045786 0.573182 
time: 1403636753.463556, t: 2.393538 -2.553639 -0.208818 q: -0.036790 0.813328 0.081362 0.574912 
time: 1403636753.663555, t: 2.385291 -2.511711 -0.202719 q: -0.057282 0.810793 0.088854 0.575707 
time: 1403636753.863555, t: 2.369996 -2.467783 -0.193343 q: -0.058674 0.809219 0.089947 0.577608 
time: 1403636754.063555, t: 2.350346 -2.421239 -0.197296 q: -0.056394 0.807398 0.085645 0.581027 
time: 1403636754.263556, t: 2.323700 -2.371908 -0.183613 q: -0.051103 0.801979 0.082256 0.589450 
optimize pose graph 
time: 1403636754.463556, t: 2.281537 -2.315179 -0.148891 q: -0.049657 0.802027 0.083864 0.589283 
time: 1403636754.663555, t: 2.225393 -2.245069 -0.125360 q: -0.058267 0.802883 0.101872 0.584471 
time: 1403636754.863555, t: 2.153207 -2.172039 -0.120593 q: -0.079052 0.799965 0.126612 0.581185 
time: 1403636755.063555, t: 2.071796 -2.093043 -0.134253 q: -0.090904 0.797071 0.143327 0.579545 
time: 1403636755.263556, t: 1.975347 -2.009167 -0.137189 q: -0.097240 0.798174 0.149659 0.575383 
time: 1403636755.463556, t: 1.874871 -1.923801 -0.113575 q: -0.096219 0.809454 0.152083 0.558925 
time: 1403636755.663555, t: 1.786338 -1.830020 -0.089261 q: -0.093026 0.808519 0.150782 0.561167 
time: 1403636756.063555, t: 1.608558 -1.629743 -0.084275 q: -0.098624 0.802034 0.143512 0.571331 
time: 1403636756.263556, t: 1.521417 -1.523657 -0.061023 q: -0.098436 0.799838 0.144041 0.574301 
time: 1403636756.463556, t: 1.424605 -1.417867 -0.042746 q: -0.098978 0.798541 0.145405 0.575667 
optimize pose graph 
time: 1403636756.663555, t: 1.320240 -1.317117 -0.046708 q: -0.101416 0.797548 0.146110 0.576441 
time: 1403636756.863555, t: 1.207782 -1.217977 -0.041290 q: -0.104211 0.795859 0.146961 0.578058 
time: 1403636757.063555, t: 1.086562 -1.117077 -0.011188 q: -0.106775 0.796385 0.146883 0.576885 
time: 1403636757.263556, t: 0.962071 -1.019612 0.004850 q: -0.106565 0.796440 0.147843 0.576602 
time: 1403636757.463556, t: 0.827660 -0.929196 -0.004534 q: -0.101536 0.799011 0.152596 0.572701 
time: 1403636757.663555, t: 0.692192 -0.833380 -0.002723 q: -0.103381 0.807449 0.166313 0.556488 
time: 1403636757.863555, t: 0.566686 -0.725936 0.029928 q: -0.111623 0.815165 0.177167 0.540054 
time: 1403636758.063555, t: 0.463665 -0.605801 0.091407 q: -0.122693 0.804290 0.179591 0.553002 
time: 1403636758.263556, t: 0.367085 -0.488634 0.133977 q: -0.131168 0.793296 0.177840 0.567318 
time: 1403636758.463556, t: 0.267914 -0.376292 0.141257 q: -0.136853 0.802693 0.174264 0.553702 
optimize pose graph 
time: 1403636758.663555, t: 0.185003 -0.266999 0.127734 q: -0.147963 0.822333 0.165094 0.524042 
time: 1403636758.863555, t: 0.142827 -0.170669 0.117120 q: -0.144173 0.804344 0.165907 0.552015 
time: 1403636759.063555, t: 0.111319 -0.087523 0.093025 q: -0.138985 0.795344 0.169239 0.565216 
time: 1403636759.263556, t: 0.086949 -0.027608 0.056764 q: -0.171505 0.797047 0.147599 0.559925 
time: 1403636759.463556, t: 0.065963 0.003280 0.009001 q: -0.155003 0.794182 0.160822 0.565141 
time: 1403636759.663555, t: 0.044921 0.010962 -0.044354 q: -0.136691 0.791215 0.175935 0.569509 
time: 1403636759.863555, t: 0.020949 0.008305 -0.061324 q: -0.135140 0.790682 0.178551 0.569807 
time: 1403636760.063555, t: -0.009732 0.005770 -0.076582 q: -0.133329 0.802104 0.179173 0.553849 
time: 1403636760.263556, t: -0.033648 0.003999 -0.096825 q: -0.133654 0.800376 0.177976 0.556650 
time: 1403636760.463556, t: -0.050532 0.000412 -0.123780 q: -0.133752 0.790601 0.178128 0.570377 
optimize pose graph 
time: 1403636760.863555, t: -0.100630 -0.006552 -0.183094 q: -0.122104 0.796527 0.188727 0.561264 
time: 1403636761.063555, t: -0.128842 0.001701 -0.208252 q: -0.124210 0.799851 0.188594 0.556096 
time: 1403636761.263556, t: -0.152605 0.021145 -0.236592 q: -0.124122 0.814293 0.189544 0.534410 
time: 1403636761.463556, t: -0.157875 0.052479 -0.248703 q: -0.126339 0.805013 0.188282 0.548217 
time: 1403636761.663555, t: -0.155309 0.089348 -0.246037 q: -0.133794 0.794339 0.181486 0.564081 
time: 1403636761.863555, t: -0.153738 0.120728 -0.237886 q: -0.150811 0.795513 0.168147 0.562264 
time: 1403636762.063555, t: -0.151461 0.134489 -0.222609 q: -0.130469 0.793339 0.180965 0.566430 
time: 1403636762.263556, t: -0.155468 0.149204 -0.205810 q: -0.108115 0.798496 0.194919 0.559216 
time: 1403636762.463556, t: -0.161814 0.182044 -0.212458 q: -0.120426 0.812104 0.185196 0.540081 
time: 1403636762.663555, t: -0.154528 0.223168 -0.249341 q: -0.164505 0.804138 0.153878 0.550111 
optimize pose graph 
time: 1403636762.863555, t: -0.138681 0.238316 -0.299330 q: -0.161070 0.779159 0.157904 0.584837 
time: 1403636763.063555, t: -0.159390 0.202937 -0.314203 q: -0.134884 0.799930 0.141063 0.567468 
time: 1403636763.263556, t: -0.166788 0.189818 -0.322321 q: -0.134164 0.798437 0.118867 0.574778 
time: 1403636763.463556, t: -0.168780 0.186101 -0.318191 q: -0.134947 0.797360 0.118240 0.576216 
time: 1403636763.663555, t: -0.158966 0.191172 -0.309274 q: -0.135307 0.797818 0.117904 0.575567 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720542348.603042299]: Shutdown request received.[0m
[33m[ WARN] [1720542348.603078610]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720542348.604021402]: Shutdown request received.[0m
[33m[ WARN] [1720542348.604048676]: Reason given for shutdown: [user request][0m
killed
